//------------------------------------------------------------------------------
//  <copyright file="DriveDirection.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
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//------------------------------------------------------------------------------

namespace Microsoft.Robotics.Navigation.Motion
{
    using System.Runtime.Serialization;

    /// <summary>
    /// Driving direction.
    /// </summary>
    [DataContract]
    public class DriveDirection
    {
        /// <summary>
        /// Initializes a new instance of the DriveDirection class.
        /// </summary>
        /// <param name="heading">Heading change in radians per second.</param>
        /// <param name="forward">Forward speed in meters per second.</param>
        /// <param name="distance">Distance in meters.</param>
        public DriveDirection(double heading, double forward, double distance)
        {
            this.Heading = heading;
            this.Forward = forward;
            this.Distance = distance;
        }

        /// <summary>
        /// Gets drive direction to stop in place.
        /// </summary>
        public static DriveDirection Stop
        {
            get { return new DriveDirection(double.NaN, 0, 0); }
        }

        /// <summary>
        /// Gets or sets the target heading in radians.
        /// </summary>
        [DataMember]
        public double Heading { get; set; }

        /// <summary>
        /// Gets or sets target forward speed in meters per second.
        /// </summary>
        [DataMember]
        public double Forward { get; set; }

        /// <summary>
        /// Gets or sets target distance in meters.
        /// </summary>
        [DataMember]
        public double Distance { get; set; }
    }
}
